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LECTURE 8: CHAPTER 5

GENERAL FORCED RESPONSE


1. LEARNING OBJECTIVES
a. Solving response to general periodic inputs USING Fourier
series
b. Reviewing the Laplace transform
c. Solving forced response using the Laplace transform for a
variety of inputs
d. MATLAB/Simulink applications
2. RESPONSE TO GENERAL PERIODIC INPUTS
Periodic motion means that time-varying signal/s that would repeat itself at a
given time, t. General theorem states that any periodic function can be
represented by a constant term plus an infinite series of sines and cosines
with increasing frequencies. This theorem is known as the Fourier theorem.
Fourier Series
Any time domain signal, f(t) no matter how complex it is, as long as it is
repetitive i.e. periodic, with a period, P, where f(t + P) = f(t), it can be
represented as a linear combination of simple harmonic motion (consisting of
sine and cosines) of varying amplitudes and varying frequencies, for a defined
interval of t
1
t t
1
+ P, where t
1
and P are constants and P > 0, then the
Fourier Series can be expressed as;
( )

,
_

+ +
1
2
sin
2
cos
2
n
n n
o
P
t n
b
P
t n
a
a
t f

Eq. 5.1
where,
( ) dt
P
t n
t f
P
a
P t
t
n

,
_


+
2
cos
2
1
1
( ) dt
P
t n
t f
P
b
P t
t
n

,
_


+
2
sin
2
1
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Study Example 5.1-2
Complex Number
Contains REAL and IMAGINARY parts [s = + j]
: REAL part
: IMAGINARY part where j
2
= -1
In s-plane:
Poles and Zeros
( ) ( ) ( )
( ) ( ) ( )
n
m
p s p s p s
z s z s z s
K s G
+ + +
+ + +

2 1
2 1
) ( Eq. 5.2
Zeros = the numerator where z1, z2 and zm are the values of s for G(s) = 0.
Poles = the denominator where p
1
, p
2
and p
n
are the values of s for G(s)
becomes infinite.
K = gain (constant)
3. THE LAPLACE TRANSFORM
The Laplace Transform
Conversion of a function, in the time domain (variables are of function of t), to
the complex-frequency domain (variables are function of s).
2
(,)
j

0
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( )


0
) ( ] ) ( [ dt
st
e t g t g L s G
Eq. 5.3
Unit Step
U(t) = 1 for t > 0
= 0 for t < 0
Exponential, u(t) = e
-at

Trigonometric function, f(t) = sin t or cos t
Using integration by parts, we have
For cosine function, f(t) = cost
3

0
. sin ] sin [ dt
st
e t t L
( )


0
) ( ] ) ( [ dt
st
e t u t u L s U

0
] ) ( [ dt
st
e t u L
s s
e
t
t
st
1
0

s
t u L
1
] ) ( [

0
. ] ) ( [ dt
st
e
at
e t u L

0
) (
] [ dt
t a s
e
at
e L

+
+

0
) (
) ( a s
e
t a s
a s
at
e L
+

1
] [
( )

0
cos sin
2 2
) (
t t s
s
st
e

[ ]
2 2
sin

+

s
t L
[ ]
2 2
cos

+

s
s
t L

0
. cos ] cos [ dt
st
e t t L
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Transform Properties
Multiplication by a Constant; a
Superposition
Multiplication by an Exponential Function (The First Shift Theorem)
Multiplication by Time (Theorem 2)
Multiplication by 1/Time (Theorem 3)
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( )
( )

0
. ] [ dt
st
e t f a t f a L
( )

0
. dt
st
e t f a ( )
s F a
( ) ( )
( ) ( ) [ ]

+ +
0
. ] [ dt
st
e t g t f t g t f L
( ) [ ] ( ) [ ]

0
.
0
. dt
st
e t g dt
st
e t f
( ) ( )
s G s F +
( )
( )

0
. ] [ dt
st
e
at
e t f t f L
at
e
( )
( )

0
. dt
t a s
e t f ( )
a s F +
( ) ( )
s F
ds
d
t f t L ] . [
( )
( ) ds
s
s F
t
t f
L . ] [

( )
.
0
lim
exists
t
t F
t
1
]
1

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Inverse Transforms, L
-1

L
-1
: The inverse transform of
For simple form use the Table.
More difficult form use Partial Fraction Expansion
Rules of Partial Fractions
1. The numerator must be of lower degree than the denominator. If it is not,
then divide out.
2. Factorise the denominator into its prime factors.
3. A linear factor (s + a) gives a partial fraction A / (s + a), where a, is the
constant to be determined.
4. A repeated factor (s + a)
2
gives;
( )
( )
2
a s
B
a s
A
+
+
+
Eq. 5.4
6
If,
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5. A quadratic factor (s
2
+ ps +q) gives a PFE of;
( ) q ps s
Q Ps
+ +
+
2
Eq. 5.5
Partial Fraction Expansion (PFE)
( )
( )
( )
0
1
1
0
a s a s
b s b
s D
s N
s F
n
n
n
m
m
+ + +
+ +

Eq. 5.6
Case 1: Distinct Poles
( )
n
n
s s
A
s s
A
s s
A
s F

+ +


2
2
1
1
Eq. 5.7
PFE for proper rational function m < n
Where, A
1
, A
2
, , A
n
= constants to be determined
and s
1
, s
2
, , s
n
= the poles
The solution in time domain becomes,
( )
t
n
s
n
t s t s
e A e A e A t f + + +
2
2
1
1
for t > 0 Eq. 5.8
Case 2: Repeated Poles
( )
( )
( )
n
n
s s
A
s s
A
s s
A
s s
A
s F

+ +


3
3
1
12
2
1
11
Eq. 5.9
The solution in time domain becomes,
( )
t
n
s
n
t s t s t s
e A e A e A e A t f + + + +
3
3
1
12
1
11
for t > 0 Eq. 5.10
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Case 3: Complex Poles
Two methods: (1) Using PFE (2) Completing the square
Method 2 Completing the square
If we have,
( )
( ) ( ) j a s j a s
C Bs
s F
+ + +
+

Eq. 5.11
Multiply the denominator of F(s) to b;
( )
( )
2 2 2
2 + + +
+

a as s
C Bs
s F Eq. 5.12
Write the denominator as the sum of the perfect square (s + a)
2
and a
constant
2
. Thus,
( )
( )
2 2
+ +
+

a s
C Bs
s F
Eq. 5.13
Rearranging the numerator of F(s) in the form of (s + a),
( )
( ) ( )
( )
2 2
+ +
+ +

a s
aB C a s B
s F
( )
( ) ( )
1
]
1

+ +

,
_


+
1
]
1

+ +
+

2 2 2 2

a s
aB C
a s
a s
B Eq. 5.14
Referring to Table 5.2-1, the solution in time domain is in the form of,
( ) t e
aB C
t e B t f
at at

sin cos

,
_


+ Eq. 5.15
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Solutions of Linear Differential Equations
1
st
Derivative
2
nd
& Higher Derivatives
Integration
Use integration by parts with ;
Solving for the Response
9
dt
st
e
dt
df
f L .
0
] [

,
_

[ ] ( ) ( )
0 f s F s f L

( ) ( ) ( )
0 f s G s g L If,
Let
( ) ( ) ( ) ( )
t f t g then t f t g


( )
( )
[ ]
( ) 0 f t f L s f L


( ) ( )
[ ]
( ) 0 0 f f s F s s


( )
( ) ( ) ( ) 0 0
2
f f s s F s f L



( ) ( ) dt e d f d f L
st
t t

1
]
1

1
]
1

0 0 0

( ) dt e dv and d f u
st
t




0
( )
s
e
v and dt t f du
st

( ) ( ) s F
s
d f L
t
1
0

1
]
1



KMEM 3211 MECHANICAL VIBRATION
1. Write the differential equations and immidiately transform the DEq (for t >
0); evaluating all the initial conditions.
2. Solve the algebraic equations for the transform of the output.
3. Evaluate the inverse transform to obtain the output as a function of time.
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